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That was only an issue because they were fired pretty much straight up; They only went 500km down range.

You can also reduce peek deceleration forces by using aerodynamic lift to stretch out the reentry over a longer period.

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No, it's an issue for most arcing trajectories. Lift doesn't help much if you're coming in at a steep angle. Reentry from orbit only works well because the entry is almost flat; there even a little lift helps a lot.
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If the capsule/rocketplane has some lift & preferably steerable aerosurfaces then you can compensate the purely ballistic deceleration somewhat.

But yeah, if it is going down almost vertically then this will not be enough.

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And all but rather short ballistic trajectories (well below orbital speed) will come in at a steep angle.

Unless one has seriously variable aerodynamics, the vehicle will have to swerve to nearly horizontal over a distance of about 1 scale height of the atmosphere, which is about 10 km. The exponentially thinning atmosphere goes from "too thin to matter" to "brick wall" over a short distance.

The acceleration for turning is v^2/r; for v = 5000 m/s and r = 10 km this is 250 g.

Acceleration also limits how rapidly one can reenter from beyond Earth orbit. At > LEO velocity, the vehicle has to use (downward) lift to stay in the atmosphere, and if v is too high the required acceleration is too high.

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